Index: firmware/App/Modes/ModeService.c
===================================================================
diff -u -rcc398b14ccf518f350b57fb5cb8728e5c908bd1e -r3b70632c04247a6973960e1f37ae73eb4384a6b7
--- firmware/App/Modes/ModeService.c	(.../ModeService.c)	(revision cc398b14ccf518f350b57fb5cb8728e5c908bd1e)
+++ firmware/App/Modes/ModeService.c	(.../ModeService.c)	(revision 3b70632c04247a6973960e1f37ae73eb4384a6b7)
@@ -1,17 +1,17 @@
 /**************************************************************************
 *
-* Copyright (c) 2019-2020 Diality Inc. - All Rights Reserved.
+* Copyright (c) 2019-2022 Diality Inc. - All Rights Reserved.
 *
 * THIS CODE MAY NOT BE COPIED OR REPRODUCED IN ANY FORM, IN PART OR IN
 * WHOLE, WITHOUT THE EXPLICIT PERMISSION OF THE COPYRIGHT OWNER.
 *
-* @file ModeService.c
+* @file    ModeService.c
 *
-* @author (last) Sean Nash
-* @date (last) 26-May-2020
+* @author  (last)      Michael Garthwaite
+* @date    (last)      07-Sep-2022
 *
-* @author (original) Dara Navaei
-* @date (original) 05-Nov-2019
+* @author  (original)  Dara Navaei
+* @date    (original)  05-Nov-2019
 *
 ***************************************************************************/
 
@@ -34,9 +34,8 @@
 /*********************************************************************//**
  * @brief
  * The initServiceMode function initializes the service mode module.
- * @details
- * Inputs : none
- * Outputs : Service mode module initialized
+ * @details Inputs: none
+ * @details Outputs: Service mode module initialized
  * @return none
  *************************************************************************/
 void initServiceMode( void )
@@ -47,21 +46,24 @@
 /*********************************************************************//**
  * @brief
  * The transitionToServiceMode function prepares for transition to service mode.
- * @details
- * Inputs : none
- * Outputs : none
- * @return none
+ * @details Inputs: none
+ * @details Outputs: none
+ * @return initial state
  *************************************************************************/
-void transitionToServiceMode( void )
+U32 transitionToServiceMode( void )
 {
+    deenergizeActuators();
+
+    initServiceMode();
+
+    return serviceState;
 }
 
 /*********************************************************************//**
  * @brief
  * The execServiceMode function executes the service mode state machine.
- * @details
- * Inputs : none
- * Outputs : Service mode state machine executed
+ * @details Inputs: none
+ * @details Outputs: Service mode state machine executed
  * @return current state.
  *************************************************************************/
 U32 execServiceMode( void )
@@ -73,7 +75,7 @@
             break;
 
         default:
-            // TODO - s/w fault
+            SET_ALARM_WITH_2_U32_DATA( ALARM_ID_DG_SOFTWARE_FAULT, SW_FAULT_ID_SERVICE_MODE_INVALID_EXEC_STATE, serviceState )
             serviceState = DG_SERVICE_STATE_START;
             break;
     }
@@ -84,9 +86,8 @@
 /*********************************************************************//**
  * @brief
  * The getCurrentServiceState function returns the current state of the service mode.
- * @details
- * Inputs : serviceState
- * Outputs : none
+ * @details Inputs: serviceState
+ * @details Outputs: none
  * @return the current state of service mode
  *************************************************************************/
 DG_SERVICE_STATE_T getCurrentServiceState( void )